ME 1032 MECHANICS

(Statics & Dynamics)

DYNAMICS
Lecture # 6

Kinetics of a Particle

Lecturer:
Saman Chandrasiri

Department of Mechanical Engineering

 Kinetics of a Particle
Newtons second law of motion:

A particle acted upon by an unbalanced force F experiences an

acceleration a that has the same direction as the force and a
magnitude that is directly proportional to the force

or

The unbalanced force acting on the particle is proportional to

the time rate of change of the particles linear momentum

(Based on the assumption that time is an absolute quantity. This

is valid for engineering problems concerned.)
Kinetics of a Particle

m = mass of the
particle P
m
P F = unbalanced force

a = acceleration
Newtons second law of motion
experienced
mathematical form as

F = ma

referred to as the equation of motion

 P
P

When a system of forces acting on a particle, (always a

system of concurrent forces)
F = ma ,
where F is the vector sum (or the resultant) of all the forces.
*The acceleration is measured from a

Newtonian
or
inertial frame of reference

(a coordinate system either fixed or has pure

translation with a constant velocity)
 D Alembert principle
The equation of motion can be rewritten in the form

F ma = 0

-ma
inertia force or reaction vector.

Then the particle is in the state of equilibrium under the action

of all the forces including this inertia force or reaction (effective
force).
This is referred to as dynamic equilibrium.
system of particles

equation of motion

Fi = miai => F = maG

m = total mass of the particles

aG = the acceleration of the centre of mass
of the system of particles

F = the sum of the external forces acting

on the system of particles
 Equations of motion
2D rectangular Cartesian coordinates

Fx = max

Fy = may
 Equations of motion
a
In 2D Polar coordinates
ar
Fr = mar r
F = ma

where , Inertial coordinate system

a r r r 2
a r 2 r
Example-1
The piston of an IC engine has a diameter of 100mm
and a mass of 1.6kg. At a particular point in the cycle,
the cylinder pressure is 1.1 N/mm2 and the piston is
moving upwards with an acceleration of 2860 m/s2.

If the normal reaction between the piston and cylinder

wall is 2000N and the coefficient of friction is 0.17,
determine the force exerted on the piston by the
connecting-rod.
 Kinetics of a Rigid Body

Lecturer:

Saman Chandrasiri

Department of Mechanical Engineering

Kinetics of a Rigid Body

A rigid body has a definite size and shape.

Then, an applied system of non-concurrent forces

may cause the body to both translate and rotate.

The translational aspects of the motion are governed by the

equation
F = ma

The rotational aspects, caused by the moment M, are governed by

an equation of the form

M = I
 M = I

I - the moment of inertia

- angular acceleration

The moment of inertia is a measure of

the resistance of a body to angular
r
acceleration
dm
Linear acceleration of the element of mass dm
is r
Inertia force on the element = dm.r
Moment of the force dM = (dm.r ).r
Total moment about the axis

M dm .r . .r r .dm I
2

body body

M dm .r . .r r .dm I
2

body body

I = the mass moment of inertia of the body

about the specified axis
I = m . k2

m = total mass of the body

k = the radius of gyration of the body about

the specified axis
Equations of motion General Plane Motion

F1


F m a
x G x

Fn F m a
y G y

F2 M I G G

About some point O other

F3 than G

Fi
M O I G ma G rOG
Kinetic energy of a rigid body

1 1
G
T mv G
2
I G 2
2 2

(Total kinetic energy) T = (translational kinetic energy )

+ (rotational kinetic energy)
Example-2
Two winches A and B, each of 250mm radius, are used to hoist a
steel bar by means of cables attached at C and D as show in
Figure-2.
At the instant shown, winch A starts to rotate anticlockwise with
an angular acceleration of 0.4 rad/s2 while winch B starts to rotate
clockwise with an angular acceleration of 0.6 rad/s2.

Determine the angular acceleration of the bar and the acceleration

of its mass centre G.

Determine the tension in each cable if the mass of the steel bar is
102 kg and its centroidal moment of inertia is 200 kgm2.

( Ans: 0.017 rad/s2 , 0.125 m/s2 505N, 508N)

 = 0.6rad/s2
= 0.4rad/s2
A B
0.25m 0.25m

C G D
1.5m 1.5m

Figure-2
Solution
= 0.6rad/s2
= 0.4rad/s2
A B

0.25m 0.25m

aC aD
C G D
1.5m 1.5m
Considering a point on the periphery of each winch, and using

aC rA 0.25 0.4 0.1 m / s 2 a r 2 r

a D rB 0.25 0.6 0.15 m / s 2
The relative acceleration between D and C

aD/C = aD aC = 0.05 m/s2 a D / C DC CD

CD 0.05 / 3 0.017rad / s 2
anticlockwise
 TA TB

IG
aG aC aG / C C D

G
aC rA 0.1 m / s 2
maG

mg
aG / C rG / C CD
Free body diagram
0.05
1.5 0.025 m / s 2 (including dynamic
3 forces and moments)

aG 0.125 m / s 2
 TA TB

IG
C D

G
Considering dynamic maG
equilibrium
mg
TA + TB - mg maG = 0
Free body diagram
1.5TA - 1.5TB + IG = 0
(including dynamic
forces and moments)

TA = 505 N

TB = 508 N
Example- 3
The 30kg unbalanced wheel shown in Figure-5 has centre of
mass G located 0.1m from the centre O. The radius of
gyration of the wheel kG = 0.15m.
If the wheel is originally at rest and released from the position
shown, determine its angular acceleration.
No slipping occurs.
Find the horizontal and vertical components of reaction at the
point of contact of the wheel with the floor.
(Ans. 10.3rad/s2, 77.4N, 263N)

G O

0.1m

Figure-5


G 0.1m
O

aGt
aGr

I 0.25m